Anti-Collision Path Planning and Tracking of Autonomous Vehicle Based on Optimized Artificial Potential Field and Discrete LQR Algorithm

Anti-Collision Path Planning and Tracking of Autonomous Vehicle Based on Optimized Artificial Potential Field and Discrete LQR Algorithm

This paper introduces an enhanced APF method to address challenges in automatic lane changing and collision avoidance for autonomous vehicles, targeting issues of infeasible target points, local optimization, inadequate safety margins, and instability when using DLQR. By integrating a distance adjus...

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Bibliographic Details
Main Authors: Chaoxia Zhang, Zhihao Chen, Xingjiao Li, Ting Zhao
Format: Article
Language:English
Published: MDPI AG 2024-11-01
Series:World Electric Vehicle Journal
Subjects:
path planning
artificial potential field algorithms
collision avoidance
path tracking
linear quadratic optimal controller
Online Access:https://www.mdpi.com/2032-6653/15/11/522
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